CN108725258A - A kind of automobile anti-lock braking condition detection method for electric vehicle and its detecting system - Google Patents
A kind of automobile anti-lock braking condition detection method for electric vehicle and its detecting system Download PDFInfo
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- CN108725258A CN108725258A CN201810526302.0A CN201810526302A CN108725258A CN 108725258 A CN108725258 A CN 108725258A CN 201810526302 A CN201810526302 A CN 201810526302A CN 108725258 A CN108725258 A CN 108725258A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of automobile anti-lock braking condition detection method for electric vehicle disclosed by the invention, includes the following steps：The original rotating speed of the motor of electric vehicle is acquired, the original tach signal V of motor is generated1；Tach signal V original to motor1The disposal of gentle filter is carried out, motor speed smoother signal V is generated2；Calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference DELTA V, and using difference DELTA V as motor speed undulating value；A motor speed undulating value is exported at interval of certain time, and the motor speed undulating value exported each time is compared with given threshold, if the motor speed undulating value of continuous multiple gap periods X is all higher than given threshold, then judge that electric vehicle enters locking state, the electric machine controller of electric vehicle carries out ANTI LOCK control, while exiting Brake energy recovery control.The invention also discloses a kind of detecting systems for realizing above-mentioned automobile anti-lock braking condition detection method for electric vehicle.
Description
Technical field
The present invention relates to Control of Electric Vehicles field more particularly to a kind of automobile anti-lock braking state-detection sides for electric vehicle
Method and its detecting system.
Background technology
Anti-lock braking system in automobiles (Antilock Brake System) is one kind in brake system of car, can
It effectively prevent automotive wheel to occur dragging sliding problem in Motor Vehicle Braking Procedure, promotes stability and the control of brake system of car
Performance processed.
Compared with conventional internal combustion locomotive, the part kinetic energy that electric vehicle recycles when can be by braking is converted into power storage
To use for driving, realize energy saving and improve course continuation mileage so that electric vehicle more has competitive advantage.However, when electronic
When the anti-lock braking system work of automobile, in order to ensure the stability of electric vehicle, need to forbid energy regenerating.
In order to realize above two function, need accurately to detect whether current electric vehicle is in locking state.Mesh
Preceding usually ABS is sent through the bus mode and realizes above-mentioned testing goal.When part ABS does not have through bus but does not limit to
When whether bus mode is sent out electric vehicle in locking state, due to cannot be in the case where electric vehicle be in locking state
Forbid energy regenerating, causes electric vehicle that cannot all carry out energy regenerating under any state.
On above-mentioned Research foundation, applicant carried out beneficial exploration and trial, has found and solve the above problems
Method, technical solution described below generate in this background.
Invention content
The first technical problem to be solved by the present invention is：A kind of electric vehicle is provided in view of the deficiencies of the prior art
With automobile anti-lock braking condition detection method, which realizes is sent out when the ABS system in electric vehicle does not have
When the function of locking state, electric vehicle still has energy recovery function, increases the safety and stability of electric vehicle.
The second technical problem to be solved by the present invention is：A kind of above-mentioned automobile anti-lock braking for electric vehicle of realization is provided
The detecting system of condition detection method.
As a kind of automobile anti-lock braking condition detection method for electric vehicle of first aspect present invention, including following step
Suddenly：
The original rotating speed of the motor of electric vehicle is acquired, and the original rotating speed of collected motor is carried out at calculating
Reason generates the original tach signal V of a motor1；
Tach signal V original to the motor of generation1The disposal of gentle filter is carried out, a motor speed smothing filtering letter is generated
Number V2；
Calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference DELTA V=V1-V2, and
Using difference DELTA V as motor speed undulating value；
A motor speed undulating value, and the motor speed undulating value that will be exported each time are exported at interval of certain time interval T
It is compared with given threshold M, if the motor speed undulating value of continuous multiple gap periods X is all higher than given threshold M, judges
Electric vehicle enters locking state, and the electric machine controller of electric vehicle carries out ANTI LOCK control, while exiting braking energy
Recycling control.
In a preferred embodiment of the invention, using second order filter tach signal V original to the motor of generation1Into
Row the disposal of gentle filter.
In a preferred embodiment of the invention, the transmission function of the second order filter is：
Wherein, it be the value range of 5.5~6.6, c is 1.5~2.5 that the value range of a, which is the value range of 0.7~1, b,
The value range of d is 4.5~5.
In a preferred embodiment of the invention, the value of a, b, c, d are divided in the transmission function of the second order filter
It Wei 1,6,2,5.
In a preferred embodiment of the invention, the given threshold M is 100rpm~200rpm.
In a preferred embodiment of the invention, the interval time T of motor speed undulating value output be 0.5ms~
1.5ms。
In a preferred embodiment of the invention, the read-around ratio of the gap periods is 15~25.
A kind of inspection for realizing above-mentioned automobile anti-lock braking condition detection method for electric vehicle as second aspect of the present invention
Examining system, including：
One is mounted on the motor speed sensor for acquiring the original rotating speed of motor in the electric motor of electric vehicle, institute
It states motor speed sensor and carries out the original rotating speed of collected motor to be converted to motor speed electric signal and export；
One motor master controller, the motor master controller include that motor speed calculates module, motor speed smothing filtering
Module, locking condition judgment module and motor control module；
The motor speed, which calculates module, has a motor speed signal input terminal and a motor speed signal output end, institute
The motor speed signal input terminal for stating motor speed calculating module is connect with the signal output end of the motor speed sensor, is used
In the motor speed electric signal of the reception motor speed sensor output, and the motor speed electric signal received is counted
Calculation is handled, and generates the original tach signal V of motor1It is exported；
The motor speed smothing filtering module has a motor speed smothing filtering input terminal and a motor speed smooth
Filtering output end, motor speed smothing filtering input terminal and the motor speed of the motor speed smothing filtering module calculate
The motor speed signal output end of module connects, and the original rotating speed letter of motor of module output is calculated for receiving the motor speed
Number V1, and to the original tach signal V of the motor received1The disposal of gentle filter is carried out, motor speed smoother signal V is generated2
It is exported；
There is the locking condition judgment module the original tach signal input terminal of a motor, a motor speed smothing filtering to believe
Number input terminal and a locking status signal output, the original tach signal input terminal of motor of the locking condition judgment module and
Motor speed smoother signal input terminal calculates motor speed signal output end and the institute of module with the motor speed respectively
The motor speed smothing filtering output end connection for stating motor speed smothing filtering module calculates mould for receiving the motor speed
The original tach signal V of motor of block output1With the motor speed smothing filtering letter of motor speed smothing filtering module output
Number V2, and calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference DELTA V=V1-V2, and will
Then motor speed undulating value is compared by difference DELTA V as motor speed undulating value with given threshold, if multiple continuous
The motor speed undulating value of phase is all higher than given threshold every other week, then judges that electric vehicle enters locking state, the locking state
Judgment module is exported locking status signal by the locking status signal output；
The motor control module has a locking status signal output and a motor control signal output end, the electricity
The locking status signal output of machine control module is connect with the locking status signal output of the locking condition judgment module,
The electric motor of its motor control signal output end and electric vehicle connects, and the motor control module receives the locking shape
After the locking status signal of state judgment module output, ANTI LOCK control is carried out to the electric motor of electric vehicle, is moved back simultaneously
Go out Brake energy recovery control.
As a result of technical solution as above, the beneficial effects of the present invention are：
1, when the ABS in electric vehicle does not have the function of being sent out locking state, electric vehicle still can have
There is energy recovery function.
2, judge whether automobile is in locking state by motor speed, convenient direct and reliability is high.
3, the disposal of gentle filter is carried out to the original rotating speed of motor using the filtering algorithm based on second order filter, there is response
Fireballing advantage, to the good wave filtering effect of motor speed under locking state.Meanwhile it can be passed through according to different type of vehicle
Parameter a, b, c, the d for demarcating second order filter, can obtain best filter effect.
4, according to different electric vehicle types, can by demarcating threshold value M, sampling time T and consecutive intervals period X,
It is accurately judged to whether electric vehicle is currently in locking state, to quickly take anti-lock control, while exiting Brake Energy
Amount recycling, increases the safety and stability of system.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow diagram of the automobile anti-lock braking condition detection method for electric vehicle of the present invention.
Fig. 2 is the second order filter structure chart of the present invention.
Fig. 3 is second order filter smothing filtering effect emulation figure of the present invention.
Fig. 4 is the structural schematic diagram of the detecting system of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to Fig. 1, what is provided in figure is a kind of automobile anti-lock braking condition detection method for electric vehicle, including following step
Suddenly：
Step 1, the original rotating speed of the motor of electric vehicle is acquired, and the original rotating speed of collected motor is counted
Calculation is handled, and generates the original tach signal V of a motor1；
Step 2, using second order filter tach signal V original to the motor of generation1The disposal of gentle filter is carried out, generates one
A motor speed smoother signal V2。
Wherein, referring to Fig. 2 and Fig. 3, the transmission function of second order filter is：
Wherein, it be the value range of 5.5~6.6, c is 1.5~2.5 that the value range of a, which is the value range of 0.7~1, b,
The value range of d is 4.5~5.Preferably, the value of a, b, c, d are respectively 1,6,2,5 in the transmission function of second order filter.
Step 3, the original tach signal V of motor is calculated1With motor speed smoother signal V2Between difference DELTA V=V1-
V2, and using difference DELTA V as motor speed undulating value.
Step 4, a motor speed undulating value, and the motor speed that will be exported each time are exported at interval of certain time interval T
Undulating value is compared with given threshold M, if the motor speed undulating value of continuous multiple gap periods X is all higher than given threshold M,
Then judge that electric vehicle enters locking state.Wherein, given threshold M is 100rpm~200rpm.Motor speed undulating value exports
Interval time T be 0.5ms~1.5ms, it is therefore preferable to 1ms.The read-around ratio of the gap periods is 15~25, it is therefore preferable to
20。
Step 5, the electric machine controller of electric vehicle carries out ANTI LOCK control, while exiting Brake energy recovery control
System.
Referring to Fig. 4, a kind of detecting system for realizing above-mentioned automobile anti-lock braking condition detection method for electric vehicle, including electricity
Machine speed probe 100 and motor master controller 200.
Motor speed sensor 100 is mounted in the electric motor of electric vehicle, and electric motor is followed to be rotated, and is used
In the original rotating speed of motor of acquisition electric motor, and carry out the original rotating speed of collected motor to be converted to motor speed electric signal
It is exported.
Motor master controller 200 includes that motor speed calculates module 210, motor speed smothing filtering module 220, locking shape
State judgment module 230 and motor control module 240.
Motor speed, which calculates module 210, has a motor speed signal input terminal and a motor speed signal output end, electricity
The motor speed signal input terminal of machine rotating speed computing module 210 is connect with the signal output end of motor speed sensor 100.Motor
Rotating speed computing module 210 is used to receive the motor speed electric signal of the output of motor speed sensor 100, and the motor to receiving
Rotating speed electric signal carries out calculation processing, generates the original tach signal V of motor1It is exported.
There is motor speed smothing filtering module 220 a motor speed smothing filtering input terminal and a motor speed smoothly to filter
Wave output terminal, motor speed smothing filtering input terminal and the motor speed of motor speed smothing filtering module 220 calculate module 210
Motor speed signal output end connection.Motor speed smothing filtering module 220 is defeated for receiving motor speed calculating module 210
The original tach signal V of motor gone out1, and to the original tach signal V of the motor received1The disposal of gentle filter is carried out, motor is generated
Rotating speed smoother signal V2It is exported.
There is locking condition judgment module 230 the original tach signal input terminal of a motor, a motor speed smothing filtering to believe
Number input terminal and a locking status signal output, the original tach signal input terminal of motor of locking condition judgment module 230 and
Motor speed smoother signal input terminal calculates the motor speed signal output end and motor of module 210 with motor speed respectively
The motor speed smothing filtering output end of rotating speed smothing filtering module 220 connects.Locking condition judgment module 230 is for receiving electricity
The original tach signal V of motor that machine rotating speed computing module 210 exports1The motor exported with motor speed smothing filtering module 220
Rotating speed smoother signal V2, and calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference
Δ V=V1-V2, and using difference DELTA V as motor speed undulating value, then motor speed undulating value is compared with given threshold,
If the motor speed undulating value of continuous multiple gap periods is all higher than given threshold, judge that electric vehicle enters locking state,
Locking condition judgment module 230 is exported locking status signal by the locking status signal output.
Motor control module 240 has a locking status signal output and a motor control signal output end, motor control
The locking status signal output of molding block 240 is connect with the locking status signal output of locking condition judgment module 230,
The electric motor of motor control signal output end and electric vehicle connects.Motor control module 240 receives the locking state
After the locking status signal of judgment module output, ANTI LOCK control is carried out to the electric motor of electric vehicle, is exited simultaneously
Brake energy recovery controls.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of automobile anti-lock braking condition detection method for electric vehicle, which is characterized in that include the following steps：
The original rotating speed of the motor of electric vehicle is acquired, and the original rotating speed of collected motor is subjected to calculation processing, it is raw
At the original tach signal V of a motor1；
Tach signal V original to the motor of generation1The disposal of gentle filter is carried out, a motor speed smoother signal V is generated2；
Calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference DELTA V=V1-V2, and by difference
Δ V is as motor speed undulating value；
At interval of certain time interval T export a motor speed undulating value, and by the motor speed undulating value exported each time with set
Determine threshold value M to be compared, if the motor speed undulating value of continuous multiple gap periods X is all higher than given threshold M, judge electronic
Automobile enters locking state, and the electric machine controller of electric vehicle carries out ANTI LOCK control, while exiting Brake energy recovery
Control.
2. automobile anti-lock braking condition detection method for electric vehicle as described in claim 1, which is characterized in that filtered using second order
Wave device tach signal V original to the motor of generation1Carry out the disposal of gentle filter.
3. automobile anti-lock braking condition detection method for electric vehicle as claimed in claim 2, which is characterized in that the second order filter
The transmission function of wave device is：
Wherein, it be the value range of 5.5~6.6, c is 1.5~2.5, d's that the value range of a, which is the value range of 0.7~1, b,
Value range is 4.5~5.
4. automobile anti-lock braking condition detection method for electric vehicle as claimed in claim 3, which is characterized in that the second order filter
The value of a, b, c, d are respectively 1,6,2,5 in the transmission function of wave device.
5. automobile anti-lock braking condition detection method for electric vehicle as described in claim 1, which is characterized in that the setting threshold
Value M is 100rpm~200rpm.
6. automobile anti-lock braking condition detection method for electric vehicle as described in claim 1, which is characterized in that the motor turns
The interval time T of fast undulating value output is 0.5ms~1.5ms.
7. automobile anti-lock braking condition detection method for electric vehicle as described in claim 1, which is characterized in that between described every other week
The read-around ratio of phase is 15~25.
8. a kind of automobile anti-lock braking condition detection method for electric vehicle realized as described in any one of claim 1 to 7
Detecting system, which is characterized in that including：
One is mounted on the motor speed sensor for acquiring the original rotating speed of motor in the electric motor of electric vehicle, the electricity
Machine speed probe carries out the original rotating speed of collected motor to be converted to motor speed electric signal and export；
One motor master controller, the motor master controller include motor speed calculate module, motor speed smothing filtering module,
Locking condition judgment module and motor control module；
The motor speed, which calculates module, has a motor speed signal input terminal and a motor speed signal output end, the electricity
The motor speed signal input terminal of machine rotating speed computing module is connect with the signal output end of the motor speed sensor, for connecing
The motor speed electric signal of the motor speed sensor output is received, and the motor speed electric signal received is carried out at calculating
Reason generates the original tach signal V of motor1It is exported；
The motor speed smothing filtering module has a motor speed smothing filtering input terminal and a motor speed smothing filtering
Output end, motor speed smothing filtering input terminal and the motor speed of the motor speed smothing filtering module calculate module
The connection of motor speed signal output end, the original tach signal of motor of module output is calculated for receiving the motor speed
V1, and to the original tach signal V of the motor received1The disposal of gentle filter is carried out, motor speed smoother signal V is generated2Into
Row output；
The locking condition judgment module has the original tach signal input terminal of a motor, a motor speed smoother signal defeated
Enter end and a locking status signal output, the original tach signal input terminal of motor and motor of the locking condition judgment module
Rotating speed smoother signal input terminal calculates the motor speed signal output end of module and the electricity with the motor speed respectively
The motor speed smothing filtering output end of machine rotating speed smothing filtering module connects, defeated for receiving the motor speed calculating module
The original tach signal V of motor gone out1With the motor speed smoother signal V of motor speed smothing filtering module output2,
And calculate the original tach signal V of motor1With motor speed smoother signal V2Between difference DELTA V=V1-V2, and by difference
Then motor speed undulating value is compared by Δ V as motor speed undulating value with given threshold, if continuous multiple every other week
The motor speed undulating value of phase is all higher than given threshold, then judges that electric vehicle enters locking state, the locking condition adjudgement
Module is exported locking status signal by the locking status signal output；
The motor control module has a locking status signal output and a motor control signal output end, the motor control
The locking status signal output of molding block is connect with the locking status signal output of the locking condition judgment module, electricity
The electric motor of machine control signal output end and electric vehicle connects, and the motor control module receives the locking state and sentences
After the locking status signal of disconnected module output, ANTI LOCK control is carried out to the electric motor of electric vehicle, while exiting system
Energy recycling control.
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| CN201810526302.0A CN108725258B (en) | 2018-05-29 | 2018-05-29 | Automobile anti-lock state detection method and detection system for electric automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795606A (en) * | 2019-03-12 | 2019-05-24 | 北京隆普智能科技有限公司 | A kind of driving method and its device |
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| CN208306386U (en) * | 2018-05-29 | 2019-01-01 | 创驱（上海）新能源科技有限公司 | A kind of automobile anti-lock braking condition detecting system for electric vehicle |
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| US4912744A (en) * | 1988-06-23 | 1990-03-27 | Lucas Industries Public Limited Company | Vehicle speed estimation in anti-lock braking systems |
| DE102007008613A1 (en) * | 2007-02-22 | 2008-08-28 | Robert Bosch Gmbh | Drive device for motor vehicle, has rotational speed sensors connected with evaluation circuit that provides adjusted jerk-free rotational speed and/or jerking-vibration information value during jerking vibrations |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109795606A (en) * | 2019-03-12 | 2019-05-24 | 北京隆普智能科技有限公司 | A kind of driving method and its device |
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| CN108725258B (en) | 2023-08-01 |
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